The aim of the project is to develop the Prosthetic robotic hand using flex sensor for amputees. The main aim of the project is to develop the robotic hand that performs pick and place activities. Here we are using flex sensors to sense the signals from artificial hand signal is transmitted and that signal is used to drive the mechanical hand. Stroke is the third leading cause of the death. Nearly 7, 00,000 people suffered from stroke last year and 2/3 rd of them survived but were left with many number of disabilities; one such disability is upper extremity hemiplegia. If the hand and the arm do not have therapy immediately after stroke, it will lose its power and muscle control, resulting in a claw like appearance and loss of function. Activities of the patient, daily living activities will be significantly affected.Prosthetic hand must resemble human hand in size and shape and must perform like human hand.
This paper describes the design and fabrication of a novel artificial hand based on a “biomechatronic” and cybernetic approach. The approach is aimed at providing “natural” sensory-motor co-ordination, biomimetic mechanisms, force and position sensors, actuators and control, and by interfacing the hand with the peripheral nervous system.
Prosthesis is an artificial device that replaces a missing body part. In medicine,prosthesis is an artificial device that replaces a missing body part, which may be lost
through trauma, disease, or congenital conditions. Prosthetic amputee rehabilitation
is primarily coordinated by a prosthetist and an inter-disciplinary team of health care
professionals including psychiatrists, surgeons, physical therapists, and occupational
therapists. A person's prosthetics should be designed and assembled according to the
patient's appearance and functional needs.
For instance, a patient may need transradial prosthesis, but need to choose
between an aesthetic functional device, a myoelectric device, a body-powered device,
and an activity specific device. The patient's future goals and economical capabilitiesmay help them choose between one or more devices.
Application of EMG and Force Signals of Elbow Joint on Robot-assisted Arm Tra...TELKOMNIKA JOURNAL
Flexion-extension based on the system's robotic arm has the potential to increase the patient's elbow joint movement. The force sensor and electromyography signals can support the biomechanical system to detect electrical signals generated by the muscles of the biological. The purpose of this study is to implement the design of force sensor and EMG signals application on the elbow flexion motion of the upper arm. In this experiments, the movements of flexion at an angle of 45º, 90º and 135º is applied to identify the relationship between the amplitude of the EMG and force signals on every angle. The contribution of this research is for supporting the development of the Robot-Assisted Arm Training. The correlation between the force signal and the EMG signal from the subject studied in the elbow joint motion tests. The application of sensors tested by an experimental on healthy subjects to simulating arm movement. The experimental results show the relationship between the amplitude of the EMG and force signals on flexion angle of the joint mechanism for monitoring the angular displacement of the robotic arm. Further developments in the design of force sensor and EMG signals are potentially for open the way for the next researches based on the physiological condition of each patient.
This paper describes the design and fabrication of a novel artificial hand based on a “biomechatronic” and cybernetic approach. The approach is aimed at providing “natural” sensory-motor co-ordination, biomimetic mechanisms, force and position sensors, actuators and control, and by interfacing the hand with the peripheral nervous system.
Prosthesis is an artificial device that replaces a missing body part. In medicine,prosthesis is an artificial device that replaces a missing body part, which may be lost
through trauma, disease, or congenital conditions. Prosthetic amputee rehabilitation
is primarily coordinated by a prosthetist and an inter-disciplinary team of health care
professionals including psychiatrists, surgeons, physical therapists, and occupational
therapists. A person's prosthetics should be designed and assembled according to the
patient's appearance and functional needs.
For instance, a patient may need transradial prosthesis, but need to choose
between an aesthetic functional device, a myoelectric device, a body-powered device,
and an activity specific device. The patient's future goals and economical capabilitiesmay help them choose between one or more devices.
Application of EMG and Force Signals of Elbow Joint on Robot-assisted Arm Tra...TELKOMNIKA JOURNAL
Flexion-extension based on the system's robotic arm has the potential to increase the patient's elbow joint movement. The force sensor and electromyography signals can support the biomechanical system to detect electrical signals generated by the muscles of the biological. The purpose of this study is to implement the design of force sensor and EMG signals application on the elbow flexion motion of the upper arm. In this experiments, the movements of flexion at an angle of 45º, 90º and 135º is applied to identify the relationship between the amplitude of the EMG and force signals on every angle. The contribution of this research is for supporting the development of the Robot-Assisted Arm Training. The correlation between the force signal and the EMG signal from the subject studied in the elbow joint motion tests. The application of sensors tested by an experimental on healthy subjects to simulating arm movement. The experimental results show the relationship between the amplitude of the EMG and force signals on flexion angle of the joint mechanism for monitoring the angular displacement of the robotic arm. Further developments in the design of force sensor and EMG signals are potentially for open the way for the next researches based on the physiological condition of each patient.
Acrylic Prosthetic Limb Using EMG signalAnveshChinta1
The topic deals with the development of a prosthetic limb made of the acrylic sheet using electromyography signals for the people who lost a part of their limb due to circulation problems from atherosclerosis or diabetes, traumatic injuries occurring due to traffic accidents and military combat, cancer or birth
effects. Electromyography (EMG) is a technique for evaluating and recording the electrical activity produced by skeletal muscles. An electromyography (EMG) detects the electrical potential generated by muscle cells when these cells are electrically or neurologically activated. Measured EMG potentials range between 2 millivolts to 4 millivolts depending on the muscle under observation. The two surface electrodes are attached to the healthy limb and sense the muscle contraction when a movement is made. This output is given to the arduino
microcontroller, this controller is programmed that, it acquires the angle and transformation link obtained due to the locomotion of normal limb.
The output signals are given to the servo motor
through servo driver and then to the prosthetic
limb. The methodology adapted here provides
locomotive action for the prosthetic limb. The
major advantage of the proposed system is that usage of acrylic sheets reduces the weight of the
prosthetic limb to a greater extent. This cost-effective acrylic prosthetic limb avoids any
irritation or side effects to the one who carries it.
Different types of electric terminal devices used for transradial and transhumeral, shoulder disarticutaion prosthesis used for external powered prosthesis.
An electric wheelchair offer mobility and the freedom to get around. A motorized wheelchair, powerchair, electric wheelchair or electric-powered wheelchair (EPW) is a wheelchair that is propelled by means of an electric motor rather than manual power. Motorized wheelchairs are useful for those unable to propel a manual wheelchair or who may need to use a wheelchair for distances or over terrain which would be fatiguing in a manual wheelchair. They may also be used not just by people with 'traditional' mobility impairments, but also by people with cardiovascular and fatigue-based conditions.The electric-powered wheelchair was invented by George Klein who worked for the National Research Council of Canada, to assist injured veterans after World War II.[1]
Acquisition of sEMG Signals During Human Ankle MovementIJERD Editor
International Journal of Engineering Research and Development is an international premier peer reviewed open access engineering and technology journal promoting the discovery, innovation, advancement and dissemination of basic and transitional knowledge in engineering, technology and related disciplines.
Design and control of an exoskeleton based device for hand rehabilitationHossein Hajiyan, Ph.D.
In this paper, a new exoskeleton-based design is proposed that imitates natural hand movements for rehabilitation purposes. For controlling the motion of the proposed design, we subsequently designed five different controllers computed torque control (CTC), PD, PID, and two sliding mode controllers
(SMC). It was shown that the second sliding mode controller resulted in improved trajectories that were chosen based on the natural hand movements. The proposed design along with the sliding mode controller has the potential to be used as a continues passive machine (CPM) resulting in an improved recovery of injured hand for patients after stroke or post-surgical training.
Robotic Leg Design to Analysis the Human Leg Swing from Motion CapturejournalBEEI
In this paper presented the prototype of robotic leg has been designed, constructed and controlled. These prototype are designed from a geometric of human leg model with three joints moving in 2D plane. Robot has three degree of freedom using DC servo motor as a joint actuators: hip, knee and ankle. The mechanical leg constructed using aluminum alloy and acrylic material. The control movement of this system is based on motion capture data stored on a personal computer. The motions are recorded with a camera by use of a marker-based to track movement of human leg. Propose of this paper is design of robotic leg to present the analysis of motion of the human leg swing and to testing the system ability to create the movement from motion capture. The results of this study show that the design of robotic leg was capable for practical use of the human leg motion analysis. The accuracy of orientation angles of joints shows the average error on hip is 1.46º, knee is 1.66º, and ankle is 0.46º. In this research suggesting that the construction of mechanic is an important role in the stabilization of the movement sequence.
Acrylic Prosthetic Limb Using EMG signalAnveshChinta1
The topic deals with the development of a prosthetic limb made of the acrylic sheet using electromyography signals for the people who lost a part of their limb due to circulation problems from atherosclerosis or diabetes, traumatic injuries occurring due to traffic accidents and military combat, cancer or birth
effects. Electromyography (EMG) is a technique for evaluating and recording the electrical activity produced by skeletal muscles. An electromyography (EMG) detects the electrical potential generated by muscle cells when these cells are electrically or neurologically activated. Measured EMG potentials range between 2 millivolts to 4 millivolts depending on the muscle under observation. The two surface electrodes are attached to the healthy limb and sense the muscle contraction when a movement is made. This output is given to the arduino
microcontroller, this controller is programmed that, it acquires the angle and transformation link obtained due to the locomotion of normal limb.
The output signals are given to the servo motor
through servo driver and then to the prosthetic
limb. The methodology adapted here provides
locomotive action for the prosthetic limb. The
major advantage of the proposed system is that usage of acrylic sheets reduces the weight of the
prosthetic limb to a greater extent. This cost-effective acrylic prosthetic limb avoids any
irritation or side effects to the one who carries it.
Different types of electric terminal devices used for transradial and transhumeral, shoulder disarticutaion prosthesis used for external powered prosthesis.
An electric wheelchair offer mobility and the freedom to get around. A motorized wheelchair, powerchair, electric wheelchair or electric-powered wheelchair (EPW) is a wheelchair that is propelled by means of an electric motor rather than manual power. Motorized wheelchairs are useful for those unable to propel a manual wheelchair or who may need to use a wheelchair for distances or over terrain which would be fatiguing in a manual wheelchair. They may also be used not just by people with 'traditional' mobility impairments, but also by people with cardiovascular and fatigue-based conditions.The electric-powered wheelchair was invented by George Klein who worked for the National Research Council of Canada, to assist injured veterans after World War II.[1]
Acquisition of sEMG Signals During Human Ankle MovementIJERD Editor
International Journal of Engineering Research and Development is an international premier peer reviewed open access engineering and technology journal promoting the discovery, innovation, advancement and dissemination of basic and transitional knowledge in engineering, technology and related disciplines.
Design and control of an exoskeleton based device for hand rehabilitationHossein Hajiyan, Ph.D.
In this paper, a new exoskeleton-based design is proposed that imitates natural hand movements for rehabilitation purposes. For controlling the motion of the proposed design, we subsequently designed five different controllers computed torque control (CTC), PD, PID, and two sliding mode controllers
(SMC). It was shown that the second sliding mode controller resulted in improved trajectories that were chosen based on the natural hand movements. The proposed design along with the sliding mode controller has the potential to be used as a continues passive machine (CPM) resulting in an improved recovery of injured hand for patients after stroke or post-surgical training.
Robotic Leg Design to Analysis the Human Leg Swing from Motion CapturejournalBEEI
In this paper presented the prototype of robotic leg has been designed, constructed and controlled. These prototype are designed from a geometric of human leg model with three joints moving in 2D plane. Robot has three degree of freedom using DC servo motor as a joint actuators: hip, knee and ankle. The mechanical leg constructed using aluminum alloy and acrylic material. The control movement of this system is based on motion capture data stored on a personal computer. The motions are recorded with a camera by use of a marker-based to track movement of human leg. Propose of this paper is design of robotic leg to present the analysis of motion of the human leg swing and to testing the system ability to create the movement from motion capture. The results of this study show that the design of robotic leg was capable for practical use of the human leg motion analysis. The accuracy of orientation angles of joints shows the average error on hip is 1.46º, knee is 1.66º, and ankle is 0.46º. In this research suggesting that the construction of mechanic is an important role in the stabilization of the movement sequence.
Low-cost and open-source anthropomorphic prosthetics hand using linear actuatorsTELKOMNIKA JOURNAL
A robust, low cost, open-source, and low power consumption in the research of prosthetics hand is essential. The purpose of this study is to develop a low-cost, open-source anthropomorphic prosthetics hand using linear actuator based on electromyography (EMG) signal control. The main advantages of this proposed method are the low-cost, lightweight and simplicity of controlling the prosthetic hand using only single channel. This is achieved by evaluating the DC motor and exploring number of locations of the EMG signal. The development of prosthetics hand consists of 3D anthropomorphic hand design, active electrodes, microcontroller, and linear actuator. The active electrodes recorded the EMG signal from extensor carpi radialis longus. The built-in EMG amplifier on the electrode amplified the EMG signal. Further, the A/D converter in the Arduino microcontroller converted the analog signal into digital. A filtering process consisted of bandpass and notch filter was performed before it used as a control signal. The linear actuator controlled each finger for flexion and extension motion. In the assessment of the design, the prosthetic hand capable of grasping ten objects. In this study, the cost and weight of the prosthetics hand are 471.99 US$ and 0.531 kg, respectively. This study has demonstrated the design of low cost and opensource of prosthetics hand with reasonable cost and lightweight. Furthermore, this development could be applied to amputee subjects.
Bionic arm is a revolutionary idea for amputees across the globe. This is as close as we can get to our natural limb. The fundamental point is to make the arm move with our brain unlike previous prosthetic upper limbs
A robotic arm is a Programmable mechanical arm which copies the functions of the human arm. They
are widely used in industries. Human robot-controlled interfaces mainly focus on providing rehabilitation to
amputees in order to overcome their amputation or disability leading them to live a normal life. The major
objective of this project is to develop a movable robotic arm controlled by EMG signals from the muscles of the
upper limb. In this system, our main aim is on providing a low 2-dimensional input derived from emg to move the
arm. This project involves creating a prosthesis system that allows signals recorded directly from the human body.
The arm is mainly divided into 2 parts, control part and moving part. Movable part contains the servo motor
which is connected to the Arduino Uno board, and it helps in developing a motion in accordance with the EMG
signals acquired from the body. The control part is the part that is controlled by the operation according to the
movement of the amputee. Mainly the initiation of the movement for the threshold fixed in the coding. The major
aim of the project is to provide an affordable and easily operable device that helps even the poor sections of the
amputated society to lead a happier and normal life by mimicking the functions of the human arm in terms of both
the physical, structural as well as functional aspects.
International Journal of Engineering Research and Applications (IJERA) is an open access online peer reviewed international journal that publishes research and review articles in the fields of Computer Science, Neural Networks, Electrical Engineering, Software Engineering, Information Technology, Mechanical Engineering, Chemical Engineering, Plastic Engineering, Food Technology, Textile Engineering, Nano Technology & science, Power Electronics, Electronics & Communication Engineering, Computational mathematics, Image processing, Civil Engineering, Structural Engineering, Environmental Engineering, VLSI Testing & Low Power VLSI Design etc.
Abstract: This paper gives about an idea about the issues concerning the integration of artificial limbs. This paper includes on overview of research finding on the development of BIONIC ARMS that are used as prosthetic arms. Controlling by the sensory feedback system. The system are used on vibration and electrical system and combination of the two methods.
Accelerometer-Based Recorder of Fingers Dynamic Movements for Post-Stroke Reh...UniversitasGadjahMada
Stroke is a disease that currently attracts more attention in Indonesia according to the statistics provided by the Ministry of Health of the Republic of Indonesia. This research was motivated by the shortage of physiotherapists which can not catch the increasing number of stroke patients. The therapy becomes less effective and less efficient since each therapist must handle too many patients during his/her work hours. This research has developed a device prototype that can help the therapy to measure and monitor patient exercise, especially at the final stage of rehabilitation when the patient gets therapy to move actively. The angle of the moving body parts that can represent the ability of patient motion was measured using accelerometers. The developed prototype was in the form of a glove, equipped with an Arduino Nano and two accelerometer modules, that measures the motion of the thumb and index finger. The device was calibrated and tested to determine the characteristics of the sensors. This test showed that the gloves prototype had an accuracy of 95,8% and precision of 99,6%. The application of the prototype was carried out on four types of finger movements, namely thumb abduction-adduction, thumb flexion-extension, finger flexion-hyperextension, and finger abductionadduction. The prototype was also tested for its ability to work in variations of direction and position of the hand.
Anthropomorphic transradial myoelectric hand using tendon-spring mechanismTELKOMNIKA JOURNAL
In the developing countries, the need for prosthetic hands is increasing. In general, transradial amputee patients use prosthetic hands that are passive like a body-powered prosthesis. This research proposes a low-cost myoelectric prosthetic hand based on 3D printing technology. Hand and finger size were designed based on the average size of human hands in Indonesia. The proposed myoelectric hand employs linear actuator combined with the tendon-spring mechanism. Myoelectric hand was developed with five modes of grip pattern to perform various objects grasping in activity of daily living. Control strategy had been developed for controlling the motion of flexion and extension on the hand and saving the energy consumed by the actuators. The control strategy was developed under MATLAB/Simulink environment and embedded to Arduino Nano V3 using Simulink Support Package for Arduino Hardware. Surface electromyography (EMG) sensor was used in this research for reading the muscle activity of the user/wearer. The proposed myoelectric hand had been tested in object grasping test and was implemented on a study participant with transradial amputee.
Combination of Flex Sensor and Electromyography for Hybrid Control RobotTELKOMNIKA JOURNAL
The alternative control methods of robot are very important to solved problems for people with
special needs. In this research, a robot arm from the elbow to hand is designed based on human right arm.
This robot robot is controlled by human left arm. The positions of flex sensors are studied to recognize the
flexion-extension elbow, supination-pronation forearm, flexion-extension wrist and radial-ulnar wrist.The
hand of robot has two function grasping and realeasing object. This robot has four joints and six flex
sensors are attached to human left arm. Electromyography signals from face muscle contraction are used
to classify grasping and releasing hand. The results show that the flex sensor accuracy is 3.54° with
standard error is approximately 0.040 V. Seven operators completely tasks to take and release objects at
three different locations: perpendicular to the robot, left-front and right-front of the robot. The average times
to finish each task are 15.7 ssecond, 17.6 second and 17.1 second. This robot control system works in a
real time function. This control method can substitute the right hand function to do taking and releasing
object tasks.
The human locomotion is studied through gait analysis and is best observed instrumentally rather than observing visually. Thus, a portable insole pressure mapping system is built to assist in studying the human gait cycle. The pressure distribution is determined by instrumentally mapping the insole using force sensitive resistive sensors that are connected to Arduino UNO via cables. The values are saved into a secure digital card that could be post processed. Hardware and software design phase are executed for the development of this project. The outcomes match to the knowledge of human gait definitions in static posture and normal walking.
This paper discusses the evaluation of the sensors used in the hand grip strength glove. The glove comprises of flex and force resisting sensors. Force resisting sensor determines the force applied by various parts of the palm, while the flex sensor determines the flexion of the fingers. These sensors are placed in a specific position on the glove to obtain correct data when the glove is used. The glove has two modes, which are pencil grip mode and object grip mode. The sensors determine which mode the glove is in depending on the gesture made. The glove is examined using a pencil and a cylindrical object to evaluate the strength of the grip. After gripping the object or pencil, the system evaluates the force applied using the sensors. This data is transferred to a computer for further analysis using a trained model. The model was able to achieve an accuracy of 90.8%.
Analysis of Surface Electromyogram Signals during Human Finger MovementsIJERD Editor
International Journal of Engineering Research and Development is an international premier peer reviewed open access engineering and technology journal promoting the discovery, innovation, advancement and dissemination of basic and transitional knowledge in engineering, technology and related disciplines.
Design and Development ofa Mirror Effect Control Prosthetic Hand with Force S...TELKOMNIKA JOURNAL
Some of the already available prosthetic hands in the market are operated in open loop, without
any feedback and expensive. This system counters those by having the prosthetic hand printed using 3D
printer and consist of a feedback sensor to make it a closed loop system. The system generally consists of
two sections, mainly Finger Input and Prosthetic Output. The two sections communicate wirelessly for data
transferring. The main purpose of the system is to control the prosthetic hand wirelessly using the Mirror
Glove by performing a mirror effect that will translate movement from the glove onto the prosthetic hand.
The Mirror Glove monitors the movements/bending of each fingers using force sensitive sensor. The
prosthetic hand also has a sensor known as force sensitive resistor. The sensors will feedback the
pressure on the prosthetic hand during object grasping, allowing the prosthetic hand to grasp delicate
object without damaging it. Overall, the system will imitate the flex and relaxing of fingers inside the Mirror
Glove and wirelessly control distant prosthetic hand to imitate the human hand.
Industrial Training at Shahjalal Fertilizer Company Limited (SFCL)MdTanvirMahtab2
This presentation is about the working procedure of Shahjalal Fertilizer Company Limited (SFCL). A Govt. owned Company of Bangladesh Chemical Industries Corporation under Ministry of Industries.
Overview of the fundamental roles in Hydropower generation and the components involved in wider Electrical Engineering.
This paper presents the design and construction of hydroelectric dams from the hydrologist’s survey of the valley before construction, all aspects and involved disciplines, fluid dynamics, structural engineering, generation and mains frequency regulation to the very transmission of power through the network in the United Kingdom.
Author: Robbie Edward Sayers
Collaborators and co editors: Charlie Sims and Connor Healey.
(C) 2024 Robbie E. Sayers
Sachpazis:Terzaghi Bearing Capacity Estimation in simple terms with Calculati...Dr.Costas Sachpazis
Terzaghi's soil bearing capacity theory, developed by Karl Terzaghi, is a fundamental principle in geotechnical engineering used to determine the bearing capacity of shallow foundations. This theory provides a method to calculate the ultimate bearing capacity of soil, which is the maximum load per unit area that the soil can support without undergoing shear failure. The Calculation HTML Code included.
CFD Simulation of By-pass Flow in a HRSG module by R&R Consult.pptxR&R Consult
CFD analysis is incredibly effective at solving mysteries and improving the performance of complex systems!
Here's a great example: At a large natural gas-fired power plant, where they use waste heat to generate steam and energy, they were puzzled that their boiler wasn't producing as much steam as expected.
R&R and Tetra Engineering Group Inc. were asked to solve the issue with reduced steam production.
An inspection had shown that a significant amount of hot flue gas was bypassing the boiler tubes, where the heat was supposed to be transferred.
R&R Consult conducted a CFD analysis, which revealed that 6.3% of the flue gas was bypassing the boiler tubes without transferring heat. The analysis also showed that the flue gas was instead being directed along the sides of the boiler and between the modules that were supposed to capture the heat. This was the cause of the reduced performance.
Based on our results, Tetra Engineering installed covering plates to reduce the bypass flow. This improved the boiler's performance and increased electricity production.
It is always satisfying when we can help solve complex challenges like this. Do your systems also need a check-up or optimization? Give us a call!
Work done in cooperation with James Malloy and David Moelling from Tetra Engineering.
More examples of our work https://www.r-r-consult.dk/en/cases-en/
NO1 Uk best vashikaran specialist in delhi vashikaran baba near me online vas...Amil Baba Dawood bangali
Contact with Dawood Bhai Just call on +92322-6382012 and we'll help you. We'll solve all your problems within 12 to 24 hours and with 101% guarantee and with astrology systematic. If you want to take any personal or professional advice then also you can call us on +92322-6382012 , ONLINE LOVE PROBLEM & Other all types of Daily Life Problem's.Then CALL or WHATSAPP us on +92322-6382012 and Get all these problems solutions here by Amil Baba DAWOOD BANGALI
#vashikaranspecialist #astrologer #palmistry #amliyaat #taweez #manpasandshadi #horoscope #spiritual #lovelife #lovespell #marriagespell#aamilbabainpakistan #amilbabainkarachi #powerfullblackmagicspell #kalajadumantarspecialist #realamilbaba #AmilbabainPakistan #astrologerincanada #astrologerindubai #lovespellsmaster #kalajaduspecialist #lovespellsthatwork #aamilbabainlahore#blackmagicformarriage #aamilbaba #kalajadu #kalailam #taweez #wazifaexpert #jadumantar #vashikaranspecialist #astrologer #palmistry #amliyaat #taweez #manpasandshadi #horoscope #spiritual #lovelife #lovespell #marriagespell#aamilbabainpakistan #amilbabainkarachi #powerfullblackmagicspell #kalajadumantarspecialist #realamilbaba #AmilbabainPakistan #astrologerincanada #astrologerindubai #lovespellsmaster #kalajaduspecialist #lovespellsthatwork #aamilbabainlahore #blackmagicforlove #blackmagicformarriage #aamilbaba #kalajadu #kalailam #taweez #wazifaexpert #jadumantar #vashikaranspecialist #astrologer #palmistry #amliyaat #taweez #manpasandshadi #horoscope #spiritual #lovelife #lovespell #marriagespell#aamilbabainpakistan #amilbabainkarachi #powerfullblackmagicspell #kalajadumantarspecialist #realamilbaba #AmilbabainPakistan #astrologerincanada #astrologerindubai #lovespellsmaster #kalajaduspecialist #lovespellsthatwork #aamilbabainlahore #Amilbabainuk #amilbabainspain #amilbabaindubai #Amilbabainnorway #amilbabainkrachi #amilbabainlahore #amilbabaingujranwalan #amilbabainislamabad
Hierarchical Digital Twin of a Naval Power SystemKerry Sado
A hierarchical digital twin of a Naval DC power system has been developed and experimentally verified. Similar to other state-of-the-art digital twins, this technology creates a digital replica of the physical system executed in real-time or faster, which can modify hardware controls. However, its advantage stems from distributing computational efforts by utilizing a hierarchical structure composed of lower-level digital twin blocks and a higher-level system digital twin. Each digital twin block is associated with a physical subsystem of the hardware and communicates with a singular system digital twin, which creates a system-level response. By extracting information from each level of the hierarchy, power system controls of the hardware were reconfigured autonomously. This hierarchical digital twin development offers several advantages over other digital twins, particularly in the field of naval power systems. The hierarchical structure allows for greater computational efficiency and scalability while the ability to autonomously reconfigure hardware controls offers increased flexibility and responsiveness. The hierarchical decomposition and models utilized were well aligned with the physical twin, as indicated by the maximum deviations between the developed digital twin hierarchy and the hardware.
Welcome to WIPAC Monthly the magazine brought to you by the LinkedIn Group Water Industry Process Automation & Control.
In this month's edition, along with this month's industry news to celebrate the 13 years since the group was created we have articles including
A case study of the used of Advanced Process Control at the Wastewater Treatment works at Lleida in Spain
A look back on an article on smart wastewater networks in order to see how the industry has measured up in the interim around the adoption of Digital Transformation in the Water Industry.
Water Industry Process Automation and Control Monthly - May 2024.pdf
Novel Approaches for Robotic Control Using Flex Sensor
1. Sangeetha.P et al. Int. Journal of Engineering Research and Applications www.ijera.com
ISSN : 2248-9622, Vol. 5, Issue 2, ( Part -2) February 2015, pp.79-81
www.ijera.com 79 | P a g e
Novel Approaches for Robotic Control Using Flex Sensor
Sangeetha.P*, Deepika R**, Chethana Gosal S***
*Department of E&C, KNS Institute of Technology, Bangalore, India
**Department of E&C, KNS Institute of Technology, Bangalore, India
***Department of E&C, CiTech Bangalore, India
Abstract
The aim of the project is to develop the Prosthetic robotic hand using flex sensor for amputees. The main aim of
the project is to develop the robotic hand that performs pick and place activities. Here we are using flex sensors
to sense the signals from artificial hand signal is transmitted and that signal is used to drive the mechanical
hand. Stroke is the third leading cause of the death. Nearly 7, 00,000 people suffered from stroke last year and
2/3 rd of them survived but were left with many number of disabilities; one such disability is upper extremity
hemiplegia. If the hand and the arm do not have therapy immediately after stroke, it will lose its power and
muscle control, resulting in a claw like appearance and loss of function. Activities of the patient, daily living
activities will be significantly affected.Prosthetic hand must resemble human hand in size and shape and must
perform like human hand.
I. Introduction
The task proposed in this project is to design an
intelligent prosthetic hand. An intelligent prosthetic
hand is defined as „a hand that mimics the natural
movements of the human hand.‟ In order to
appropriately mimic the motion of the human hand,
we must study its natural motions. For instance, the
distal phalanx (finger tip) must rotate about its joint
as the middle phalanx rotates. It is very difficult and
unnatural to bend the finger at the proximal joint,
while keeping the distal joint stiff. The motions of
these two joints are linked and must move together.
On the other hand, the knuckle joint is not linked to
any other joints. The knuckle is able to move the
entire finger with no motion in the proximal or distal
joints. This means that the finger can remain straight
while bending at the knuckle. The thumb is a very
different digit. It only has a knuckle joint and a
proximal joint. These joints in the thumb are unlinked
and can move independently of each other. Once the
natural motions on the human hand are defined, the
design of a prosthetic that can imitate them can
occur. In the design of this prosthetic, space is a very
important constraint. The size of the prosthetic must
also resemble that of the average human hand. This
means that there is not much space to fit actuators
and motors. The fingers themselves are very small
and there will not be any room for actuators that are
powerful enough to accomplish everyday tasks. This
must be accounted for in the prosthetics design. Some
areas where actuators may be placed are in the body
of the hand or in the forearm of a full arm prosthetic.
The scope of this project allows for placement of
actuators and motors in the forearm since the hand is
being designed for a full arm
prosthetic. With preliminary research such as stated
above, concepts for the design can be developed to fit
the criteria.
II. Design
The first step taken when designing the
prosthetic hand was to decide on the best control
mechanism for finger movement. The goal for the
design was to minimize the number of actuators
necessary to control the movement of the finger and
simplify the equations needed to describe the motion
of the finger. There are very many ways to do this
and we explored as many options as possible. There
were several preliminary designs we dealt with
before choosing it was the best approach. The first
proposal, which was the tension controlled model,
consisted of the three joints of the finger, with a cable
attached to a fixed point on each link of the finger
which was run back through the finger to an actuator
mechanism at the hand or behind the wrist.
Figure 1.1 Multiple Tension Cable Design Proposal
Figure1.2 Single Tension Cable Design Proposal
There were two main approaches to this design.
The first, as shown in Figure 1.1 consisted of cables
run over the joints between each link of the finger,
RESEARCH ARTICLE OPEN ACCESS
2. Sangeetha.P et al. Int. Journal of Engineering Research and Applications www.ijera.com
ISSN : 2248-9622, Vol. 5, Issue 2, ( Part -2) February 2015, pp.79-81
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which would pull the links upwards when tension
was applied to each cable. For this model, each joint
would have a compliant mechanism which forced the
resting state of the links to be in the bent position.
The second approach for this design has the
complaint mechanisms such that the resting state for
the links is in the straightened positions systems to
drive the. In this proposal small tubes could be used
to fill with either air or liquid to actuate the finger.
This proposal was eliminated early on in our design
process due to the noise inherent with pneumatic
systems. The noise would create the same discomfort
life-like prosthetics. The third proposal for the finger
design was a pulley system to control each joint
independently. Pulley‟s would be placed at each joint
in the finger, and would be independently controlled
by its own wire. Fig shows two approaches to this
method. In the second figure, the finger uses
compliant devices to keep the finger straightened at
rest. Therefore, when the actuator is active, the
fingers will bend and hold their positions. When the
actuator becomes inactive, the compliant mechanism
would return the fingers to their straightened
positions. This eliminates the need for two actuators
per joint, and is thus preferable to the method shown
in Figure, which requires one actuator to bend the
finger downwards, and a second actuator to return
the finger to the straightened position.
III. Implementation
Based in the basic design a hand model is
created, it is controlled using a Data Glove on which
the flex sensors are mounted and the mechanical
hand is controlled wirelessly using RF transmitter
and Receiver which is driven by Microcontroller.
Depending on the bend of the flex sensors the hand is
controller and it is using to pick up objects
IV. Result
The different positions of the flex sensors their
digital values are given to the controller and motion
of the motors either in clockwise or anticlockwise
direction makes the hand to grasp and pick up things.
V. Conclusion
A step-by-step approach in designing the
microcontroller based system for measurement and
control of the parameters has been followed. The
results obtained from the measurement have shown
that the system performance is quite reliable and
accurate. The hand glove, which is used to control the
robotic hand is normal glove fitted with flex sensors
along the length of each finger .The flex sensors
output a stream of data that varies with degree of
bend, the output from the flex sensor is analog
values, it is converted to digital and processed by
using arm processor and then it will be used to
control the device. Further improvements will be
made as less expensive and more reliable sensors are
developed for use in agricultural production. This
project is merely a demonstration of what we can do
with if Microcontroller and wireless communication
technology in unison.
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